
#include "ConstraintSolver.hpp"

using namespace rwsim::simulator;

bool ConstraintSolver::solve (std::vector< CEdgeGroup >& groups, SolverInfo& info,
                              rw::kinematics::State& state)
{
    for (int i = 0; i < (int) groups.size (); i++) {
        if (!solveGroup (groups[i], info, state))
            return false;
    }
    return true;
}
